Deep Q‐Network‐Based Hierarchical Path Planning of a Biped Wall‐Climbing Robot for Window Cleaning
In building maintenance, cleaning the exterior walls of high‐altitude buildings is a critical task traditionally performed by human workers. However, manual maintenance exhibits several challenges, including fall risks, high costs, and aging workforce. To address such issues, this article presents a biped wall‐cleaning robotic system (BWCRS) dedicated to the maintenance of multi‐isolated areas on exoskeleton‐structured windows. To solve the complete coverage cleaning path planning problem, a full coverage cleaning approach is proposed by integrating a deep Q‐network (DQN)‐based method with the BWCRS. The proposed method enhances the cleaning process by optimizing the robot's travel path using DQN, ensuring stable navigation on walls with obstacles through advanced biped loco‐manipulation. The effectiveness of the reported approach is validated through extensive simulations and experimental investigations. Comparative studies reveal that the presented method outperforms the existing method. The results demonstrate the BWCRS's capability to efficiently and safely clean exoskeleton‐structure windows. Moreover, the proposed framework can be extended to path planning of other types of climbing robots.
- Standort
-
Deutsche Nationalbibliothek Frankfurt am Main
- Umfang
-
Online-Ressource
- Sprache
-
Englisch
- Erschienen in
-
Deep Q‐Network‐Based Hierarchical Path Planning of a Biped Wall‐Climbing Robot for Window Cleaning ; day:28 ; month:01 ; year:2025 ; extent:13
Advanced intelligent systems ; (28.01.2025) (gesamt 13)
- Urheber
-
Zhang, Weijian
Li, Zikang
Tam, Lap Mou
Xu, Qingsong
- DOI
-
10.1002/aisy.202400745
- URN
-
urn:nbn:de:101:1-2501281324491.970702816393
- Rechteinformation
-
Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
- Letzte Aktualisierung
-
15.08.2025, 07:25 MESZ
Datenpartner
Deutsche Nationalbibliothek. Bei Fragen zum Objekt wenden Sie sich bitte an den Datenpartner.
Beteiligte
- Zhang, Weijian
- Li, Zikang
- Tam, Lap Mou
- Xu, Qingsong
Ähnliche Objekte (12)
ACC 3000: Autonomous Cobblestone Cleaning-robot
Harry Rosenthal an Hammond Bros. Window Cleaning Company Ltd.
A hierarchical path-segmentation movement ecology framework
Complete area-coverage path planner for surface cleaning in hospital settings using mobile dual-arm robot and GBNN with heuristics
FMEA‐Based Coverage‐Path‐Planning Strategy for Floor‐Cleaning Robots
A Scalable Haze‐Free Antireflective Hierarchical Surface with Self‐Cleaning Capability
Hierarchical memory organization of multimodal robot skills for plan-based robot control
Robot Navigation Beyond Planning the Shortest Path
A hierarchical framework for physical human-robot interaction
Hierarchical Q-Learning in complex robot control problems
On-line path planning by heuristic hierarchical search
Hierarchical speed-up techniques for shortest-path algorithms
ACC 3000: Autonomous Cobblestone Cleaning-robot
Harry Rosenthal an Hammond Bros. Window Cleaning Company Ltd.
A hierarchical path-segmentation movement ecology framework
Complete area-coverage path planner for surface cleaning in hospital settings using mobile dual-arm robot and GBNN with heuristics
FMEA‐Based Coverage‐Path‐Planning Strategy for Floor‐Cleaning Robots
A Scalable Haze‐Free Antireflective Hierarchical Surface with Self‐Cleaning Capability
Hierarchical memory organization of multimodal robot skills for plan-based robot control
Robot Navigation Beyond Planning the Shortest Path
A hierarchical framework for physical human-robot interaction
Hierarchical Q-Learning in complex robot control problems
On-line path planning by heuristic hierarchical search
Hierarchical speed-up techniques for shortest-path algorithms
ACC 3000: Autonomous Cobblestone Cleaning-robot
Harry Rosenthal an Hammond Bros. Window Cleaning Company Ltd.
A hierarchical path-segmentation movement ecology framework
Complete area-coverage path planner for surface cleaning in hospital settings using mobile dual-arm robot and GBNN with heuristics
FMEA‐Based Coverage‐Path‐Planning Strategy for Floor‐Cleaning Robots
A Scalable Haze‐Free Antireflective Hierarchical Surface with Self‐Cleaning Capability
Hierarchical memory organization of multimodal robot skills for plan-based robot control
Robot Navigation Beyond Planning the Shortest Path
A hierarchical framework for physical human-robot interaction
Hierarchical Q-Learning in complex robot control problems
On-line path planning by heuristic hierarchical search